Back-off

Standstill behavior by a robot is deemed to be ineffective and inefficient convey robot’s intention yield priority another party in spatial interaction. Instead, robots could their thus next action via motion. We developed back-off (BO) movement communicate the of yielding pedestrians at bottlenecks. To evaluate human sensory perception subjective legibility, BO compared three other motion strategies video study with 167 interviewees university public spaces, where it excels regarding legibility. Implemented real encounter, objective 78 participants as reaction stop-and-wait strategy, two versions (short long), shows an improvement pedestrians’ efficiency second encounter short version stop strategy. Eventually, third all strategies, interaction causes only small time consumption still required cognitive process perceiving object visual field. Hence, design kinematic parameters, path time, exhibits potential increase fluency